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<div class="title">linalg/matrix_inline.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (c) 2010-2011, NVIDIA Corporation</span>
<a name="l00003"></a>00003 <span class="comment"> * All rights reserved.</span>
<a name="l00004"></a>00004 <span class="comment"> *</span>
<a name="l00005"></a>00005 <span class="comment"> * Redistribution and use in source and binary forms, with or without</span>
<a name="l00006"></a>00006 <span class="comment"> * modification, are permitted provided that the following conditions are met:</span>
<a name="l00007"></a>00007 <span class="comment"> *   * Redistributions of source code must retain the above copyright</span>
<a name="l00008"></a>00008 <span class="comment"> *     notice, this list of conditions and the following disclaimer.</span>
<a name="l00009"></a>00009 <span class="comment"> *   * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00010"></a>00010 <span class="comment"> *     notice, this list of conditions and the following disclaimer in the</span>
<a name="l00011"></a>00011 <span class="comment"> *     documentation and/or other materials provided with the distribution.</span>
<a name="l00012"></a>00012 <span class="comment"> *   * Neither the name of NVIDIA Corporation nor the</span>
<a name="l00013"></a>00013 <span class="comment"> *     names of its contributors may be used to endorse or promote products</span>
<a name="l00014"></a>00014 <span class="comment"> *     derived from this software without specific prior written permission.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span>
<a name="l00017"></a>00017 <span class="comment"> * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span>
<a name="l00018"></a>00018 <span class="comment"> * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span>
<a name="l00019"></a>00019 <span class="comment"> * DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT HOLDER&gt; BE LIABLE FOR ANY</span>
<a name="l00020"></a>00020 <span class="comment"> * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span>
<a name="l00021"></a>00021 <span class="comment"> * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00022"></a>00022 <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span>
<a name="l00023"></a>00023 <span class="comment"> * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00024"></a>00024 <span class="comment"> * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span>
<a name="l00025"></a>00025 <span class="comment"> * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#pragma once</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span>
<a name="l00030"></a>00030 <span class="preprocessor">#include &lt;<a class="code" href="vector_8h.html" title="Define linear-algebra vector classes.">nih/linalg/vector.h</a>&gt;</span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;cmath&gt;</span>
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 <span class="keyword">namespace </span>nih {
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="comment">//</span>
<a name="l00036"></a>00036 <span class="comment">// I M P L E M E N T A T I O N</span>
<a name="l00037"></a>00037 <span class="comment">//</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#ifdef _V</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#undef _V</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span><span class="preprocessor">#define _V(v, i)   (((Vector&lt;T,M&gt;&amp;)v).x[(i)])</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a>00044 <span class="preprocessor">#ifdef _M</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span><span class="preprocessor">#undef _M</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define _M(m, i, j)   (((Matrix&lt;T,N,M&gt;&amp;)m).r[(i)].x[(j)])</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="preprocessor">#ifdef _CM</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor">#undef _CM</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor">#define _CM(m, i, j)   (((const Matrix&lt;T,N,M&gt;&amp;)m).r[(i)].x[(j)])</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span>
<a name="l00054"></a>00054 
<a name="l00055"></a>00055 <span class="comment">//</span>
<a name="l00056"></a>00056 <span class="comment">// Matrix inline methods</span>
<a name="l00057"></a>00057 <span class="comment">//</span>
<a name="l00058"></a>00058 
<a name="l00059"></a>00059 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix() { }
<a name="l00060"></a>00060 
<a name="l00061"></a>00061 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix(<span class="keyword">const</span> T s)
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00064"></a>00064         r[i] = Vector&lt;T,M&gt;(s);
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00070"></a>00070                 r[i] = m.r[i];
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072 
<a name="l00073"></a>00073 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix(<span class="keyword">const</span> Vector&lt;T,M&gt; *v)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00076"></a>00076                 r[i] = v[i];
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 
<a name="l00079"></a>00079 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix(<span class="keyword">const</span> T *v)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00082"></a>00082                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; M; j++)
<a name="l00083"></a>00083                         r[i][j] = v[i*M + j];
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085 
<a name="l00086"></a>00086 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;::Matrix(<span class="keyword">const</span> T **v)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00089"></a>00089                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; M; j++)
<a name="l00090"></a>00090                         r[i][j] = v[i][j];
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 <span class="comment">/*</span>
<a name="l00093"></a>00093 <span class="comment">template &lt;typename T, int N, int M&gt; Matrix&lt;T,N,M&gt;::Matrix(const T v[N][M])</span>
<a name="l00094"></a>00094 <span class="comment">{</span>
<a name="l00095"></a>00095 <span class="comment">        for (int i = 0; i &lt; N; i++)</span>
<a name="l00096"></a>00096 <span class="comment">                for (int j = 0; j &lt; M; j++)</span>
<a name="l00097"></a>00097 <span class="comment">                        r[i][j] = v[i][j];</span>
<a name="l00098"></a>00098 <span class="comment">}</span>
<a name="l00099"></a>00099 <span class="comment">*/</span>
<a name="l00100"></a>00100 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;&amp; Matrix&lt;T,N,M&gt;::operator  = (<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00103"></a>00103                 r[i] = m.r[i];
<a name="l00104"></a>00104         <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;&amp; <a class="code" href="group__vectors.html#ga4226e5c3bf0305cf0a0459bf43564223">Matrix&lt;T,N,M&gt;::operator += </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00110"></a>00110                 r[i] += m.r[i];
<a name="l00111"></a>00111         <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113 
<a name="l00114"></a>00114 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;&amp; <a class="code" href="group__vectors.html#ga6c534bcb2f6acc627ea0988b2de4f73e">Matrix&lt;T,N,M&gt;::operator -= </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00117"></a>00117                 r[i] -= m.r[i];
<a name="l00118"></a>00118         <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120 
<a name="l00121"></a>00121 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;&amp; <a class="code" href="group__vectors.html#gabaaa34dafadbdbaaff130b02d28b3ad1">Matrix&lt;T,N,M&gt;::operator *= </a>(T k)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00124"></a>00124                 r[i] *= k;
<a name="l00125"></a>00125         <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 
<a name="l00128"></a>00128 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Matrix&lt;T,N,M&gt;&amp; <a class="code" href="group__vectors.html#ga04e63000d70a03c13098b6b7303a29e9">Matrix&lt;T,N,M&gt;::operator /= </a>(T k)
<a name="l00129"></a>00129 {
<a name="l00130"></a>00130         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00131"></a>00131                 r[i] /= k;
<a name="l00132"></a>00132         <span class="keywordflow">return</span> *<span class="keyword">this</span>;
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 
<a name="l00135"></a>00135 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; <span class="keyword">const</span> Vector&lt;T,M&gt;&amp; Matrix&lt;T,N,M&gt;::operator [] (<span class="keywordtype">int</span> i)<span class="keyword"> const</span>
<a name="l00136"></a>00136 <span class="keyword"></span>{
<a name="l00137"></a>00137         <span class="keywordflow">return</span> r[i];
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; Vector&lt;T,M&gt;&amp; Matrix&lt;T,N,M&gt;::operator [] (<span class="keywordtype">int</span> i)
<a name="l00140"></a>00140 {
<a name="l00141"></a>00141         <span class="keywordflow">return</span> r[i];
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143 
<a name="l00144"></a>00144 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; <span class="keyword">const</span> Vector&lt;T,M&gt;&amp; Matrix&lt;T,N,M&gt;::get(<span class="keywordtype">int</span> i)<span class="keyword"> const</span>
<a name="l00145"></a>00145 <span class="keyword"></span>{
<a name="l00146"></a>00146         <span class="keywordflow">return</span> r[i];
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; <span class="keywordtype">void</span> Matrix&lt;T,N,M&gt;::set(<span class="keywordtype">int</span> i, <span class="keyword">const</span> Vector&lt;T,M&gt;&amp; v)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150         r[i] = v;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 
<a name="l00153"></a>00153 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; T Matrix&lt;T,N,M&gt;::operator () (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)<span class="keyword"> const</span>
<a name="l00154"></a>00154 <span class="keyword"></span>{
<a name="l00155"></a>00155         <span class="keywordflow">return</span> r[i][j];
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; T&amp; Matrix&lt;T,N,M&gt;::operator () (<span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159         <span class="keywordflow">return</span> r[i][j];
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161 
<a name="l00162"></a>00162 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; T Matrix&lt;T,N,M&gt;::det()<span class="keyword"> const</span>
<a name="l00163"></a>00163 <span class="keyword"></span>{
<a name="l00164"></a>00164         <span class="keywordflow">return</span> 0.0;
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166 
<a name="l00167"></a>00167 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M, <span class="keywordtype">int</span> Q&gt; NIH_HOST NIH_DEVICE Matrix&lt;T,N,Q&gt;&amp; multiply(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,M,Q&gt;&amp; b, Matrix&lt;T,N,Q&gt;&amp; r)
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00170"></a>00170         {
<a name="l00171"></a>00171                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; Q; j++)
<a name="l00172"></a>00172                 {
<a name="l00173"></a>00173                         r[i][j] = 0.0;
<a name="l00174"></a>00174                         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 0; k &lt; M; k++)
<a name="l00175"></a>00175                                 r[i][j] += a[i][k]*b[k][j];
<a name="l00176"></a>00176                 }
<a name="l00177"></a>00177         }
<a name="l00178"></a>00178         <span class="keywordflow">return</span> r;
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180 
<a name="l00181"></a>00181 <span class="comment">// OPTIMAL</span>
<a name="l00182"></a>00182 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_HOST NIH_DEVICE Vector&lt;T,M&gt;&amp; multiply(<span class="keyword">const</span> Vector&lt;T,N&gt;&amp; v, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m, Vector&lt;T,M&gt;&amp; r)
<a name="l00183"></a>00183 {
<a name="l00184"></a>00184         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; M; i++)
<a name="l00185"></a>00185         {
<a name="l00186"></a>00186                 r[i] = 0.0;
<a name="l00187"></a>00187                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00188"></a>00188                         r[i] += v[j]*m(j,i);
<a name="l00189"></a>00189         }
<a name="l00190"></a>00190         <span class="keywordflow">return</span> r;
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192 <span class="comment">// OPTIMAL</span>
<a name="l00193"></a>00193 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_HOST NIH_DEVICE Vector&lt;T,N&gt;&amp; multiply(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m, <span class="keyword">const</span> Vector&lt;T,M&gt;&amp; v, Vector&lt;T,N&gt;&amp; r)
<a name="l00194"></a>00194 {
<a name="l00195"></a>00195         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00196"></a>00196         {
<a name="l00197"></a>00197                 r[i] = 0.0;
<a name="l00198"></a>00198                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; M; j++)
<a name="l00199"></a>00199                         r[i] += m(i,j)*v[j];
<a name="l00200"></a>00200         }
<a name="l00201"></a>00201         <span class="keywordflow">return</span> r;
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 
<a name="l00204"></a>00204 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_HOST NIH_DEVICE Matrix&lt;T,M,N&gt; transpose(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00205"></a>00205 {
<a name="l00206"></a>00206         Matrix&lt;T,M,N&gt; r;
<a name="l00207"></a>00207 
<a name="l00208"></a>00208         <span class="keywordflow">return</span> transpose(m, r);
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 
<a name="l00211"></a>00211 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_HOST NIH_DEVICE Matrix&lt;T,M,N&gt;&amp; transpose(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m, Matrix&lt;T,M,N&gt;&amp; r)
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00214"></a>00214                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; M; j++)
<a name="l00215"></a>00215                         r[j][i] = m[i][j];
<a name="l00216"></a>00216 
<a name="l00217"></a>00217         <span class="keywordflow">return</span> r;
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219 
<a name="l00220"></a>00220 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; <span class="keywordtype">bool</span> invert(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, Matrix&lt;T,M,N&gt;&amp; r)
<a name="l00221"></a>00221 {
<a name="l00222"></a>00222     T d = a.det();
<a name="l00223"></a>00223         <span class="keywordflow">if</span> (__TZero__(d)) <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00224"></a>00224 
<a name="l00225"></a>00225         <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00226"></a>00226 }
<a name="l00227"></a>00227 
<a name="l00228"></a>00228 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00229"></a>00229 <span class="keywordtype">bool</span> invert(<span class="keyword">const</span> Matrix&lt;T,4,4&gt;&amp; a, Matrix&lt;T,4,4&gt;&amp; r)
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231         T t1, t2, t3, t4, t5, t6;
<a name="l00232"></a>00232 
<a name="l00233"></a>00233         <span class="comment">// We calculate the adjoint matrix of a, then we divide it by the determinant of a</span>
<a name="l00234"></a>00234         <span class="comment">// We indicate with Aij the cofactor of a[i][j]:   Aij = (-1)^(i+j)*Det(Tij), where</span>
<a name="l00235"></a>00235         <span class="comment">// Tij is the minor complementary of a[i][j]</span>
<a name="l00236"></a>00236 
<a name="l00237"></a>00237         <span class="comment">// First block ([0,0] - [3,1])</span>
<a name="l00238"></a>00238 
<a name="l00239"></a>00239         t1 = a(2,2)*a(3,3) - a(2,3)*a(3,2);
<a name="l00240"></a>00240         t2 = a(2,1)*a(3,3) - a(2,3)*a(3,1);
<a name="l00241"></a>00241         t3 = a(2,1)*a(3,2) - a(2,2)*a(3,1);
<a name="l00242"></a>00242         t4 = a(2,0)*a(3,3) - a(2,3)*a(3,0);
<a name="l00243"></a>00243         t5 = a(2,0)*a(3,2) - a(2,2)*a(3,0);
<a name="l00244"></a>00244         t6 = a(2,0)*a(3,1) - a(2,1)*a(3,0);
<a name="l00245"></a>00245 
<a name="l00246"></a>00246         r[0][0] =   a(1,1) * t1 - a(1,2) * t2 + a(1,3) * t3;      <span class="comment">// A00</span>
<a name="l00247"></a>00247         r[0][1] = -(a(0,1) * t1 - a(0,2) * t2 + a(0,3) * t3);     <span class="comment">// A10</span>
<a name="l00248"></a>00248         r[1][0] = -(a(1,0) * t1 - a(1,2) * t4 + a(1,3) * t5);     <span class="comment">// A01</span>
<a name="l00249"></a>00249         r[1][1] =   a(0,0) * t1 - a(0,2) * t4 + a(0,3) * t5;      <span class="comment">// A11</span>
<a name="l00250"></a>00250         r[2][0] =   a(1,0) * t2 - a(1,1) * t4 + a(1,3) * t6;      <span class="comment">// A02</span>
<a name="l00251"></a>00251         r[2][1] = -(a(0,0) * t2 - a(0,1) * t4 + a(0,3) * t6);     <span class="comment">// A21</span>
<a name="l00252"></a>00252         r[3][0] = -(a(1,0) * t3 - a(1,1) * t5 + a(1,2) * t6);     <span class="comment">// A03</span>
<a name="l00253"></a>00253         r[3][1] =   a(0,0) * t3 - a(0,1) * t5 + a(0,2) * t6;      <span class="comment">// A13</span>
<a name="l00254"></a>00254 
<a name="l00255"></a>00255         <span class="comment">// Second block ([0,2] - [3,2])</span>
<a name="l00256"></a>00256 
<a name="l00257"></a>00257         t1 = a(1,2)*a(3,3) - a(1,3)*a(3,2);
<a name="l00258"></a>00258         t2 = a(1,1)*a(3,3) - a(1,3)*a(3,1);
<a name="l00259"></a>00259         t3 = a(1,1)*a(3,2) - a(1,2)*a(3,1);
<a name="l00260"></a>00260         t4 = a(1,0)*a(3,3) - a(1,3)*a(3,0);
<a name="l00261"></a>00261         t5 = a(1,0)*a(3,2) - a(1,2)*a(3,0);
<a name="l00262"></a>00262         t6 = a(1,0)*a(3,1) - a(1,1)*a(3,0);
<a name="l00263"></a>00263 
<a name="l00264"></a>00264         r[0][2] =   a(0,1) * t1 - a(0,2) * t2 + a(0,3) * t3;      <span class="comment">// A20</span>
<a name="l00265"></a>00265         r[1][2] = -(a(0,0) * t1 - a(0,2) * t4 + a(0,3) * t5);     <span class="comment">// A21</span>
<a name="l00266"></a>00266         r[2][2] =   a(0,0) * t2 - a(0,1) * t4 + a(0,3) * t6;      <span class="comment">// A22</span>
<a name="l00267"></a>00267         r[3][2] = -(a(0,0) * t3 - a(0,1) * t5 + a(0,2) * t6);     <span class="comment">// A23</span>
<a name="l00268"></a>00268 
<a name="l00269"></a>00269         <span class="comment">// Third block ([0,3] - [3,3])</span>
<a name="l00270"></a>00270 
<a name="l00271"></a>00271         t1 = a(1,2)*a(2,3) - a(1,3)*a(2,2);
<a name="l00272"></a>00272         t2 = a(1,1)*a(2,3) - a(1,3)*a(2,1);
<a name="l00273"></a>00273         t3 = a(1,1)*a(2,2) - a(1,2)*a(2,1);
<a name="l00274"></a>00274         t4 = a(1,0)*a(2,3) - a(1,3)*a(2,0);
<a name="l00275"></a>00275         t5 = a(1,0)*a(2,2) - a(1,2)*a(2,0);
<a name="l00276"></a>00276         t6 = a(1,0)*a(2,1) - a(1,1)*a(2,0);
<a name="l00277"></a>00277 
<a name="l00278"></a>00278         r[0][3] = -(a(0,1) * t1 - a(0,2) * t2 + a(0,3) * t3);     <span class="comment">// A30</span>
<a name="l00279"></a>00279         r[1][3] =   a(0,0) * t1 - a(0,2) * t4 + a(0,3) * t5;      <span class="comment">// A31</span>
<a name="l00280"></a>00280         r[2][3] = -(a(0,0) * t2 - a(0,1) * t4 + a(0,3) * t6);     <span class="comment">// A32</span>
<a name="l00281"></a>00281         r[3][3] =   a(0,0) * t3 - a(0,1) * t5 + a(0,2) * t6;      <span class="comment">// A33</span>
<a name="l00282"></a>00282 
<a name="l00283"></a>00283         <span class="comment">// We save some time calculating Det(a) this way (now r is adjoint of a)</span>
<a name="l00284"></a>00284         <span class="comment">// Det(a) = a00 * A00 + a01 * A01 + a02 * A02 + a03 * A03</span>
<a name="l00285"></a>00285         T d = a(0,0)*r[0][0] + a(0,1)*r[1][0] + a(0,2)*r[2][0] + a(0,3)*r[3][0];
<a name="l00286"></a>00286 
<a name="l00287"></a>00287         <span class="keywordflow">if</span> (d == T(0.0)) <span class="keywordflow">return</span> <span class="keyword">false</span>; <span class="comment">// Singular matrix =&gt; no inverse</span>
<a name="l00288"></a>00288 
<a name="l00289"></a>00289         d = T(1.0)/d;
<a name="l00290"></a>00290 
<a name="l00291"></a>00291         r *= d;
<a name="l00292"></a>00292         <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00293"></a>00293 }
<a name="l00294"></a>00294 
<a name="l00295"></a>00295 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; T det(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00296"></a>00296 {
<a name="l00297"></a>00297         <span class="keywordflow">return</span> m.det();
<a name="l00298"></a>00298 }
<a name="l00299"></a>00299 
<a name="l00300"></a>00300 <span class="comment">//</span>
<a name="l00301"></a>00301 <span class="comment">// Matrix&lt;T,N,M&gt; template &lt;typename T, int N, int M&gt; functions (not members)</span>
<a name="l00302"></a>00302 <span class="comment">//</span>
<a name="l00303"></a>00303 
<a name="l00304"></a>00304 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE <span class="keywordtype">int</span> <a class="code" href="group__vectors.html#gaabd17838f41c1637cb84a3cfe31dfb0b">operator == </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; b)
<a name="l00305"></a>00305 {
<a name="l00306"></a>00306         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00307"></a>00307         {
<a name="l00308"></a>00308                 <span class="keywordflow">if</span> (a[i] != b[i])
<a name="l00309"></a>00309                         <span class="keywordflow">return</span> 0;
<a name="l00310"></a>00310         }
<a name="l00311"></a>00311         <span class="keywordflow">return</span> 1;
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313 
<a name="l00314"></a>00314 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE <span class="keywordtype">int</span> <a class="code" href="group__vectors.html#ga884852dfe6e126e524af6c966fd3fa8e">operator != </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; b)
<a name="l00315"></a>00315 {
<a name="l00316"></a>00316         <span class="keywordflow">return</span> !(a == b);
<a name="l00317"></a>00317 }
<a name="l00318"></a>00318 
<a name="l00319"></a>00319 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS Matrix&lt;T,N,M&gt; NIH_HOST NIH_DEVICE <a class="code" href="group__vectors.html#ga8782aba246b1da852d9f4390d22336f8">operator  - </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a)
<a name="l00320"></a>00320 {
<a name="l00321"></a>00321         <span class="keywordflow">return</span> (Matrix&lt;T,N,M&gt;(a) *= -1.0);
<a name="l00322"></a>00322 }
<a name="l00323"></a>00323 
<a name="l00324"></a>00324 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS Matrix&lt;T,N,M&gt; NIH_HOST NIH_DEVICE <a class="code" href="group__vectors.html#ga9235b9ea803b8d0ef379565a3ff7dd76">operator  + </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; b)
<a name="l00325"></a>00325 {
<a name="l00326"></a>00326         Matrix&lt;T,N,M&gt; r;
<a name="l00327"></a>00327         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00328"></a>00328                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00329"></a>00329                         _M(r,i,j) = _CM(a,i,j) + _CM(b,i,j);
<a name="l00330"></a>00330 
<a name="l00331"></a>00331         <span class="keywordflow">return</span> r;
<a name="l00332"></a>00332 }
<a name="l00333"></a>00333 
<a name="l00334"></a>00334 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS Matrix&lt;T,N,M&gt; NIH_HOST NIH_DEVICE <a class="code" href="group__vectors.html#ga8782aba246b1da852d9f4390d22336f8">operator  - </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; b)
<a name="l00335"></a>00335 {
<a name="l00336"></a>00336         Matrix&lt;T,N,M&gt; r;
<a name="l00337"></a>00337         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00338"></a>00338                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00339"></a>00339                         _M(r,i,j) = _CM(a,i,j) - _CM(b,i,j);
<a name="l00340"></a>00340 
<a name="l00341"></a>00341         <span class="keywordflow">return</span> r;
<a name="l00342"></a>00342 }
<a name="l00343"></a>00343 
<a name="l00344"></a>00344 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M, <span class="keywordtype">int</span> Q&gt; NIH_API_CS NIH_HOST NIH_DEVICE Matrix&lt;T,N,Q&gt; operator * (<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, <span class="keyword">const</span> Matrix&lt;T,M,Q&gt;&amp; b)
<a name="l00345"></a>00345 {
<a name="l00346"></a>00346         Matrix&lt;T,N,Q&gt; r;
<a name="l00347"></a>00347 
<a name="l00348"></a>00348         <span class="keywordflow">return</span> multiply(a, b, r);
<a name="l00349"></a>00349 }
<a name="l00350"></a>00350 
<a name="l00351"></a>00351 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE Matrix&lt;T,N,M&gt; operator  * (<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, T k)
<a name="l00352"></a>00352 {
<a name="l00353"></a>00353         Matrix&lt;T,N,M&gt; r;
<a name="l00354"></a>00354         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00355"></a>00355                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00356"></a>00356                         _M(r,i,j) = _CM(a,i,j) * k;
<a name="l00357"></a>00357 
<a name="l00358"></a>00358         <span class="keywordflow">return</span> r;
<a name="l00359"></a>00359 }
<a name="l00360"></a>00360 
<a name="l00361"></a>00361 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE Matrix&lt;T,N,M&gt; operator  * (T k, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a)
<a name="l00362"></a>00362 {
<a name="l00363"></a>00363         Matrix&lt;T,N,M&gt; r;
<a name="l00364"></a>00364         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00365"></a>00365                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00366"></a>00366                         _M(r,i,j) = _CM(a,i,j) * k;
<a name="l00367"></a>00367 
<a name="l00368"></a>00368         <span class="keywordflow">return</span> r;
<a name="l00369"></a>00369 }
<a name="l00370"></a>00370 
<a name="l00371"></a>00371 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE Vector&lt;T,M&gt; operator * (<span class="keyword">const</span> Vector&lt;T,N&gt;&amp; v, <span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m)
<a name="l00372"></a>00372 {
<a name="l00373"></a>00373         Vector&lt;T,M&gt; r;
<a name="l00374"></a>00374 
<a name="l00375"></a>00375         <span class="keywordflow">return</span> multiply(v, m, r);
<a name="l00376"></a>00376 }
<a name="l00377"></a>00377 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE Vector&lt;T,N&gt; operator * (<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; m, <span class="keyword">const</span> Vector&lt;T,M&gt;&amp; v)
<a name="l00378"></a>00378 {
<a name="l00379"></a>00379         Vector&lt;T,N&gt; r;
<a name="l00380"></a>00380 
<a name="l00381"></a>00381     <span class="keywordflow">return</span> multiply(m, v, r);
<a name="l00382"></a>00382 }
<a name="l00383"></a>00383 
<a name="l00384"></a>00384 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keywordtype">int</span> N, <span class="keywordtype">int</span> M&gt; NIH_API_CS NIH_HOST NIH_DEVICE Matrix&lt;T,N,M&gt; <a class="code" href="group__vectors.html#gafe00990ed787cec75b986c394b7f5e0f">operator  / </a>(<span class="keyword">const</span> Matrix&lt;T,N,M&gt;&amp; a, T k)
<a name="l00385"></a>00385 {
<a name="l00386"></a>00386         Matrix&lt;T,N,M&gt; r;
<a name="l00387"></a>00387         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; N; i++)
<a name="l00388"></a>00388                 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; N; j++)
<a name="l00389"></a>00389                         _M(r,i,j) = _CM(a,i,j) / k;
<a name="l00390"></a>00390 
<a name="l00391"></a>00391         <span class="keywordflow">return</span> r;
<a name="l00392"></a>00392 }
<a name="l00393"></a>00393 
<a name="l00394"></a>00394 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00395"></a><a class="code" href="group__matrices.html#ga5d92f3307949b63085b54c2c4d14cb78">00395</a> NIH_HOST NIH_DEVICE <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#ga5d92f3307949b63085b54c2c4d14cb78" title="build a 3d translation matrix">translate</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a>&amp; vec)
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m( T(0) );
<a name="l00398"></a>00398 
<a name="l00399"></a>00399     m(0,0) = m(1,1) = m(2,2) = m(3,3) = 1.0f;
<a name="l00400"></a>00400 
<a name="l00401"></a>00401     m(0,3) = vec.x;
<a name="l00402"></a>00402     m(1,3) = vec.y;
<a name="l00403"></a>00403     m(2,3) = vec.z;
<a name="l00404"></a>00404 
<a name="l00405"></a>00405     <span class="keywordflow">return</span> m;
<a name="l00406"></a>00406 }
<a name="l00407"></a>00407 
<a name="l00408"></a>00408 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00409"></a><a class="code" href="group__matrices.html#gad1ee54c47ad750f6485c00f707dd978c">00409</a> <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#gad1ee54c47ad750f6485c00f707dd978c" title="build a 3d perspective matrix">perspective</a>(T fovy, T aspect, T zNear, T zFar)
<a name="l00410"></a>00410 {
<a name="l00411"></a>00411     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m( T(0) );
<a name="l00412"></a>00412 
<a name="l00413"></a>00413     T f = T(1) / std::tan(fovy / T(2));
<a name="l00414"></a>00414 
<a name="l00415"></a>00415     m(0,0) = f / aspect;
<a name="l00416"></a>00416     m(1,1) = f;
<a name="l00417"></a>00417     m(2,2) = (zFar + zNear) / (zNear - zFar);
<a name="l00418"></a>00418     m(2,3) = T(2) * zFar * zNear / (zNear - zFar);
<a name="l00419"></a>00419     m(3,2) = T(-1);
<a name="l00420"></a>00420     m(3,3) = T(0);
<a name="l00421"></a>00421 
<a name="l00422"></a>00422     <span class="keywordflow">return</span> m;
<a name="l00423"></a>00423 }
<a name="l00424"></a>00424 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00425"></a><a class="code" href="group__matrices.html#ga9df91e2ecf368ee7e7b9dddce3a7f3d1">00425</a> <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#ga9df91e2ecf368ee7e7b9dddce3a7f3d1" title="build a 3d look at matrix">look_at</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a>&amp; eye, <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a>&amp; center, <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a>&amp; up)
<a name="l00426"></a>00426 {
<a name="l00427"></a>00427     <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a> f = <a class="code" href="group__vectors.html#gae244399ef06f44b09f0a908aa406c037">normalize</a>(center - eye);
<a name="l00428"></a>00428     <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a> s = <a class="code" href="group__vectors.html#gae244399ef06f44b09f0a908aa406c037">normalize</a>(<a class="code" href="group__vectors.html#ga14de1c4465c863797732d372f933a932">cross</a>(f, up));
<a name="l00429"></a>00429     <a class="code" href="structnih_1_1_vector_3_01_t_00_013_01_4.html">Vector&lt;T,3&gt;</a> u = <a class="code" href="group__vectors.html#ga14de1c4465c863797732d372f933a932">cross</a>(s, f);
<a name="l00430"></a>00430 
<a name="l00431"></a>00431     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m(T(0));
<a name="l00432"></a>00432     m(0,0) = s.x;
<a name="l00433"></a>00433     m(0,1) = s.y;
<a name="l00434"></a>00434     m(0,2) = s.z;
<a name="l00435"></a>00435     m(1,0) = u.x;
<a name="l00436"></a>00436     m(1,1) = u.y;
<a name="l00437"></a>00437     m(1,2) = u.z;
<a name="l00438"></a>00438     m(2,0) = -f.x;
<a name="l00439"></a>00439     m(2,1) = -f.y;
<a name="l00440"></a>00440     m(2,2) = -f.z;
<a name="l00441"></a>00441 
<a name="l00442"></a>00442     <span class="keywordflow">return</span> m * <a class="code" href="group__matrices.html#ga5d92f3307949b63085b54c2c4d14cb78" title="build a 3d translation matrix">translate</a>(-eye);
<a name="l00443"></a>00443 }
<a name="l00444"></a>00444 
<a name="l00445"></a>00445 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00446"></a><a class="code" href="group__matrices.html#gaf42e47e61afca06aff0efdbb26cfc1ef">00446</a> NIH_HOST NIH_DEVICE <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#gaf42e47e61afca06aff0efdbb26cfc1ef" title="build a 3d rotation around the X axis">rotation_around_X</a>(<span class="keyword">const</span> T q)
<a name="l00447"></a>00447 {
<a name="l00448"></a>00448     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m;
<a name="l00449"></a>00449 
<a name="l00450"></a>00450         <span class="keyword">const</span> <span class="keywordtype">float</span> sin_q = sin(q);
<a name="l00451"></a>00451         m[1][1] = m[2][2] = cos(q);
<a name="l00452"></a>00452         m[1][2] = -sin_q;
<a name="l00453"></a>00453         m[2][1] =  sin_q;
<a name="l00454"></a>00454         m[0][0] = m[3][3] = T(1.0f);
<a name="l00455"></a>00455         m[0][1] =
<a name="l00456"></a>00456         m[0][2] =
<a name="l00457"></a>00457         m[0][3] =
<a name="l00458"></a>00458         m[1][0] =
<a name="l00459"></a>00459         m[1][3] =
<a name="l00460"></a>00460         m[2][0] =
<a name="l00461"></a>00461         m[2][3] =
<a name="l00462"></a>00462         m[3][0] =
<a name="l00463"></a>00463         m[3][1] =
<a name="l00464"></a>00464         m[3][2] = T(0.0f);
<a name="l00465"></a>00465         <span class="keywordflow">return</span> m;
<a name="l00466"></a>00466 }
<a name="l00467"></a>00467 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00468"></a><a class="code" href="group__matrices.html#ga21af57144d9398e235230c2096f64655">00468</a> NIH_HOST NIH_DEVICE <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#ga21af57144d9398e235230c2096f64655" title="build a 3d rotation around the Y axis">rotation_around_Y</a>(<span class="keyword">const</span> T q)
<a name="l00469"></a>00469 {
<a name="l00470"></a>00470     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m;
<a name="l00471"></a>00471 
<a name="l00472"></a>00472     <span class="keyword">const</span> <span class="keywordtype">float</span> sin_q = sin(q);
<a name="l00473"></a>00473         m[0][0] = m[2][2] = cos(q);
<a name="l00474"></a>00474         m[2][0] = -sin_q;
<a name="l00475"></a>00475         m[0][2] =  sin_q;
<a name="l00476"></a>00476         m[1][1] = m[3][3] = T(1.0f);
<a name="l00477"></a>00477         m[0][1] =
<a name="l00478"></a>00478         m[0][3] =
<a name="l00479"></a>00479         m[1][0] =
<a name="l00480"></a>00480         m[1][2] =
<a name="l00481"></a>00481         m[1][3] =
<a name="l00482"></a>00482         m[2][1] =
<a name="l00483"></a>00483         m[2][3] =
<a name="l00484"></a>00484         m[3][0] =
<a name="l00485"></a>00485         m[3][1] =
<a name="l00486"></a>00486         m[3][2] = T(0.0f);
<a name="l00487"></a>00487         <span class="keywordflow">return</span> m;
<a name="l00488"></a>00488 }
<a name="l00489"></a>00489 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;
<a name="l00490"></a><a class="code" href="group__matrices.html#gaa52af0191054c50d9ebd145331c61a78">00490</a> NIH_HOST NIH_DEVICE <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> <a class="code" href="group__matrices.html#gaa52af0191054c50d9ebd145331c61a78" title="build a 3d rotation around the Z axis">rotation_around_Z</a>(<span class="keyword">const</span> T q)
<a name="l00491"></a>00491 {
<a name="l00492"></a>00492     <a class="code" href="structnih_1_1_matrix.html">Matrix&lt;T,4,4&gt;</a> m;
<a name="l00493"></a>00493 
<a name="l00494"></a>00494     <span class="keyword">const</span> <span class="keywordtype">float</span> sin_q = sin(q);
<a name="l00495"></a>00495         m[0][0] = m[1][1] = cos(q);
<a name="l00496"></a>00496         m[1][0] =  sin_q;
<a name="l00497"></a>00497         m[0][1] = -sin_q;
<a name="l00498"></a>00498         m[2][2] = m[3][3] = T(1.0f);
<a name="l00499"></a>00499         m[0][2] =
<a name="l00500"></a>00500         m[0][3] =
<a name="l00501"></a>00501         m[1][2] =
<a name="l00502"></a>00502         m[1][3] =
<a name="l00503"></a>00503         m[2][0] =
<a name="l00504"></a>00504         m[2][1] =
<a name="l00505"></a>00505         m[2][3] =
<a name="l00506"></a>00506         m[3][0] =
<a name="l00507"></a>00507         m[3][1] =
<a name="l00508"></a>00508         m[3][2] = T(0.0f);
<a name="l00509"></a>00509         <span class="keywordflow">return</span> m;
<a name="l00510"></a>00510 }
<a name="l00511"></a><a class="code" href="group__matrices.html#ga33d8b434a7554e170c48d85be8a45efd">00511</a> NIH_HOST NIH_DEVICE <span class="keyword">inline</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a> <a class="code" href="group__matrices.html#ga33d8b434a7554e170c48d85be8a45efd" title="transform a 3d point with a perspective transform">ptrans</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_matrix.html">Matrix4x4f</a>&amp; m, <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a>&amp; v)
<a name="l00512"></a>00512 {
<a name="l00513"></a>00513         <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector4f</a> r = m * <a class="code" href="structnih_1_1_vector.html">Vector4f</a>(v,1.0f);
<a name="l00514"></a>00514         <span class="keywordflow">return</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a>( r[0], r[1], r[2] );
<a name="l00515"></a>00515 }
<a name="l00516"></a><a class="code" href="group__matrices.html#ga90f6d2850e286d194db09300a4d99537">00516</a> NIH_HOST NIH_DEVICE <span class="keyword">inline</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a> <a class="code" href="group__matrices.html#ga90f6d2850e286d194db09300a4d99537" title="transform a 3d vector with a perspective transform">vtrans</a>(<span class="keyword">const</span> <a class="code" href="structnih_1_1_matrix.html">Matrix4x4f</a>&amp; m, <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a>&amp; v)
<a name="l00517"></a>00517 {
<a name="l00518"></a>00518         <span class="keyword">const</span> <a class="code" href="structnih_1_1_vector.html">Vector4f</a> r = m * <a class="code" href="structnih_1_1_vector.html">Vector4f</a>(v,0.0f);
<a name="l00519"></a>00519         <span class="keywordflow">return</span> <a class="code" href="structnih_1_1_vector.html">Vector3f</a>( r[0], r[1], r[2] );
<a name="l00520"></a>00520 }
<a name="l00521"></a>00521 
<a name="l00522"></a>00522 <span class="preprocessor">#undef _V</span>
<a name="l00523"></a>00523 <span class="preprocessor"></span><span class="preprocessor">#undef _M</span>
<a name="l00524"></a>00524 <span class="preprocessor"></span><span class="preprocessor">#undef _CM</span>
<a name="l00525"></a>00525 <span class="preprocessor"></span>
<a name="l00526"></a>00526 } <span class="comment">// namespace nih</span>
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